version: 66.06
glider: 140
mission: 8
dive: 195
start: 11 27 109 18 21 54
data:
$ID,140
$MISSION,8
$DIVE,195
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-47827.535
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.173029
$PRESSURE_SLOPE,0.0001158875
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,181507,6318.042,245.810,54,1.5,55,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.22
$_SM_ANGLEo,-57.0
$GPS2,182131,6317.982,245.693,10,1.5,15,-3.4
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,123.4,64433,-13.7,-6.875
$D_GRID,1035
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-7.53,0.000,2,0.000,0.000,217,2280,1967,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.2,-0.0,1,127,8.68,2.08,-84.22,0.000,4,0.224,0.052,2499,913,3482,0,0,0,0,0,0
$GC,375,-0.63,-116.7,29.5,-11.7,64,382,0.17,2.12,0.00,0.000,6,0.169,0.029,2553,2310,3483,0,0,0,0,0,0
$GC,715,-0.63,-116.7,56.4,-8.3,125,721,0.00,2.10,0.00,0.000,4,0.000,0.035,2553,911,3483,0,0,0,0,0,0
$GC,773,-0.63,-116.7,60.1,-5.7,135,778,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2301,3483,0,0,0,0,0,0
$GC,1113,-0.63,-116.7,82.8,-6.7,196,1120,0.00,2.10,0.00,0.000,4,0.000,0.035,2553,920,3483,0,0,0,0,0,0
$GC,1131,-0.63,-116.7,84.1,-6.8,199,1137,0.00,2.03,0.00,0.000,6,0.000,0.028,2553,2303,3483,0,0,0,0,0,0
$GC,1472,-0.63,-116.7,108.4,-8.1,260,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2302,3483,0,0,0,0,0,0
$GC,1797,-0.63,-116.7,135.1,-7.6,294,1801,0.00,2.08,0.00,0.000,4,0.000,0.035,2553,908,3483,0,0,0,0,0,0
$GC,1846,-0.63,-116.7,139.3,-8.2,296,1851,0.00,2.08,0.00,0.000,6,0.000,0.028,2553,2301,3484,0,0,0,0,0,0
$GC,2173,-0.63,-116.7,163.8,-7.2,312,2177,0.00,2.08,0.00,0.000,4,0.000,0.035,2553,907,3484,0,0,0,0,0,0
$GC,2199,-0.63,-116.7,165.9,-7.8,313,2204,0.00,2.08,0.00,0.000,6,0.000,0.028,2553,2301,3484,0,0,0,0,0,0
$GC,2527,-0.63,-116.7,188.3,-6.5,329,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2301,3484,0,0,0,0,0,0
$GC,2835,-0.63,-116.7,207.5,-6.0,344,2839,0.00,2.05,0.00,0.000,4,0.000,0.035,2553,914,3484,0,0,0,0,0,0
$GC,2867,-0.63,-116.7,209.5,-6.4,345,2874,0.00,2.03,0.00,0.000,6,0.000,0.028,2553,2310,3484,0,0,0,0,0,0
$GC,3183,-0.63,-116.7,229.0,-6.7,361,3186,0.00,2.08,0.00,0.000,4,0.000,0.034,2553,906,3483,0,0,0,0,0,0
$GC,3215,-0.63,-116.7,231.4,-6.9,362,3221,0.00,2.08,0.00,0.000,6,0.000,0.028,2553,2305,3483,0,0,0,0,0,0
$GC,3531,-0.63,-116.7,250.5,-6.0,378,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2305,3483,0,0,0,0,0,0
$GC,3840,-0.63,-116.7,272.9,-7.7,393,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2305,3484,0,0,0,0,0,0
$GC,4149,-0.63,-116.7,299.0,-8.6,408,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2305,3484,0,0,0,0,0,0
$GC,4476,-0.63,-116.7,329.4,-8.8,419,4480,0.00,2.08,0.00,0.000,4,0.000,0.034,2553,906,3484,0,0,0,0,0,0
$GC,4497,-0.63,-116.7,331.4,-9.0,419,4503,0.00,2.08,0.00,0.000,6,0.000,0.028,2553,2299,3484,0,0,0,0,0,0
$GC,4810,-0.63,-116.7,356.7,-7.8,430,4814,0.00,2.08,0.00,0.000,4,0.000,0.035,2553,910,3483,0,0,0,0,0,0
$GC,4825,-0.63,-116.7,358.0,-8.1,430,4829,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2297,3484,0,0,0,0,0,0
$GC,5149,-0.63,-116.7,386.2,-9.5,441,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2297,3484,0,0,0,0,0,0
$GC,5455,-0.63,-116.7,413.5,-8.8,451,5459,0.00,2.08,0.00,0.000,4,0.000,0.041,2553,3697,3483,0,0,0,0,0,0
$GC,5481,-0.63,-116.7,415.8,-8.6,451,5487,0.00,2.03,0.00,0.000,6,0.000,0.023,2553,2293,3483,0,0,0,0,0,0
$GC,5794,-0.63,-116.7,441.6,-7.6,462,5798,0.00,2.10,0.00,0.000,4,0.000,0.040,2554,3697,3483,0,0,0,0,0,0
$GC,5803,-0.63,-116.7,442.4,-7.5,462,5808,0.00,2.03,0.00,0.000,6,0.000,0.024,2553,2298,3483,0,0,0,0,0,0
$GC,6133,-0.63,-116.7,462.5,-5.1,473,6137,0.00,2.12,0.00,0.000,4,0.000,0.041,2553,3707,3483,0,0,0,0,0,0
$GC,6150,-0.66,-116.7,463.4,-5.0,473,6153,0.00,2.00,0.00,0.000,6,0.000,0.024,2553,2297,3483,0,0,0,0,0,0
$GC,6473,-0.66,-116.7,478.3,-4.6,484,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2297,3483,0,0,0,0,0,0
$GC,6780,-0.69,-116.7,492.8,-4.8,494,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2297,3482,0,0,0,0,0,0
$GC,7115,-0.73,-116.7,512.5,-6.0,502,7118,0.00,2.03,0.00,0.000,4,0.000,0.035,2553,920,3482,0,0,0,0,0,0
$GC,7141,-0.73,-116.7,514.7,-7.3,502,7146,0.00,2.05,0.00,0.000,6,0.000,0.028,2553,2295,3482,0,0,0,0,0,0
$GC,7486,-0.76,-116.7,535.4,-5.9,508,7490,0.00,2.10,0.00,0.000,4,0.000,0.041,2553,3709,3481,0,0,0,0,0,0
$GC,7509,-0.79,-116.7,536.9,-5.9,508,7514,0.12,2.03,0.00,0.000,6,0.130,0.025,2514,2283,3481,0,0,0,0,0,0
$GC,7846,-0.74,-116.7,567.1,-9.3,514,7850,0.00,2.15,0.00,0.000,4,0.000,0.041,2514,3709,3480,0,0,0,0,0,0
$GC,7867,-0.69,-116.7,569.3,-9.6,514,7871,0.00,2.00,0.00,0.000,6,0.000,0.025,2513,2308,3480,0,0,0,0,0,0
$GC,8210,-0.64,-116.7,598.2,-8.3,520,8212,0.15,0.00,0.00,0.000,6,0.189,0.000,2553,2305,3479,0,0,0,0,0,0
$GC,8513,-0.68,-116.7,617.0,-6.3,525,8517,0.00,2.10,0.00,0.000,4,0.000,0.043,2553,3697,3478,0,0,0,0,0,0
$GC,8541,-0.72,-116.7,618.2,-4.5,525,8545,0.00,2.00,0.00,0.000,6,0.000,0.025,2554,2301,3478,0,0,0,0,0,0
$GC,8878,-0.76,-116.7,633.2,-4.5,531,8882,0.00,2.12,0.00,0.000,4,0.000,0.043,2554,3701,3477,0,0,0,0,0,0
$GC,8934,-0.82,-116.7,636.0,-5.3,531,8940,0.15,2.03,0.00,0.000,6,0.125,0.025,2503,2282,3477,0,0,0,0,0,0
$GC,9243,-0.75,-116.7,657.5,-7.2,537,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2281,3476,0,0,0,0,0,0
$GC,9547,-0.69,-116.7,677.6,-6.5,542,9552,0.15,2.17,0.00,0.000,4,0.183,0.044,2542,3698,3474,0,0,0,0,0,0
$GC,9557,-0.64,-116.7,678.3,-6.4,542,9561,0.00,2.00,0.00,0.000,6,0.000,0.026,2542,2310,3475,0,0,0,0,0,0
$GC,9911,-0.64,-116.7,697.8,-5.6,548,9915,0.00,2.12,0.00,0.000,4,0.000,0.044,2542,3706,3473,0,0,0,0,0,0
$GC,9955,-0.67,-116.7,700.6,-6.5,548,9959,0.00,2.05,0.00,0.000,6,0.000,0.026,2543,2287,3473,0,0,0,0,0,0
$GC,10275,-0.67,-116.7,720.0,-6.2,554,10279,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3705,3472,0,0,0,0,0,0
$GC,10354,-0.71,-116.7,725.2,-6.7,555,10358,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2289,3471,0,0,0,0,0,0
$GC,10702,-0.71,-116.7,746.8,-6.2,561,10706,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3698,3470,0,0,0,0,0,0
$GC,10791,-0.74,-116.7,752.8,-6.7,562,10795,0.00,2.03,0.00,0.000,6,0.000,0.026,2542,2300,3469,0,0,0,0,0,0
$GC,11139,-0.74,-116.7,776.3,-6.9,568,11143,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3705,3469,0,0,0,0,0,0
$GC,11217,-0.78,-116.7,781.9,-7.1,569,11220,0.00,2.05,0.00,0.000,6,0.000,0.027,2542,2289,3469,0,0,0,0,0,0
$GC,11570,-0.78,-116.7,805.3,-6.6,575,11574,0.00,2.15,0.00,0.000,4,0.000,0.044,2542,3702,3467,0,0,0,0,0,0
$GC,11665,-0.81,-116.7,811.3,-6.0,576,11670,0.12,2.03,0.00,0.000,6,0.140,0.027,2502,2292,3467,0,0,0,0,0,0
$GC,11997,-0.76,-116.7,835.9,-7.5,582,12001,0.00,2.15,0.00,0.000,4,0.000,0.044,2502,3702,3466,0,0,0,0,0,0
$GC,12012,-0.70,-116.7,837.1,-7.3,582,12017,0.12,2.08,0.00,0.000,6,0.187,0.028,2533,2296,3466,0,0,0,0,0,0
$GC,12361,-0.70,-116.7,859.6,-6.4,588,12364,0.00,2.15,0.00,0.000,4,0.000,0.045,2533,3698,3465,0,0,0,0,0,0
$GC,12404,-0.70,-116.7,862.5,-5.5,588,12408,0.00,2.05,0.00,0.000,6,0.000,0.027,2533,2312,3466,0,0,0,0,0,0
$GC,12731,-0.70,-116.7,883.0,-6.3,594,12735,0.00,2.12,0.00,0.000,4,0.000,0.044,2533,3704,3465,0,0,0,0,0,0
$GC,12769,-0.70,-116.7,885.5,-6.4,594,12773,0.00,2.05,0.00,0.000,6,0.000,0.028,2534,2292,3464,0,0,0,0,0,0
$GC,13095,-0.70,-116.7,906.6,-6.5,600,13099,0.00,2.15,0.00,0.000,4,0.000,0.045,2533,3701,3464,0,0,0,0,0,0
$GC,13144,-0.70,-116.7,909.9,-6.3,600,13148,0.00,2.08,0.00,0.000,6,0.000,0.028,2533,2303,3464,0,0,0,0,0,0
$GC,13460,-0.70,-116.7,930.2,-6.4,606,13464,0.00,2.12,0.00,0.000,4,0.000,0.045,2533,3696,3463,0,0,0,0,0,0
$GC,13509,-0.70,-116.7,933.6,-6.7,606,13513,0.00,2.08,0.00,0.000,6,0.000,0.028,2533,2296,3463,0,0,0,0,0,0
$GC,13824,-0.70,-116.7,953.6,-6.3,612,13828,0.00,2.15,0.00,0.000,4,0.000,0.045,2533,3705,3462,0,0,0,0,0,0
$GC,13879,-0.70,-116.7,957.3,-6.7,612,13883,0.00,2.08,0.00,0.000,6,0.000,0.028,2533,2307,3462,0,0,0,0,0,0
$GC,14193,-0.70,-116.7,977.3,-6.4,618,14197,0.00,2.12,0.00,0.000,4,0.000,0.045,2533,3699,3462,0,0,0,0,0,0
$GC,14237,-0.70,-116.7,980.2,-6.1,618,14241,0.00,2.10,0.00,0.000,6,0.000,0.028,2533,2290,3462,0,0,0,0,0,0
$STATE,14435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14435,begin apogee
$GC,14440,-0.24,0.0,992.8,6.3,622,14541,0.50,0.00,97.65,1.550,6,0.165,0.000,2682,2647,3006,0,0,0,0,0,0
$STATE,14542,end apogee,CONTROL_FINISHED_OK
$STATE,14542,begin climb
$GC,14544,0.80,116.7,994.8,0.0,623,14659,1.08,2.40,106.10,1.457,4,0.114,0.046,3016,4043,2528,0,0,0,0,0,0
$GC,14715,0.55,116.7,988.9,9.4,626,14720,0.25,2.25,0.00,0.000,6,0.168,0.027,2947,2649,2523,0,0,0,0,0,0
$GC,15046,0.53,132.6,967.9,6.2,632,15065,0.00,2.30,13.57,1.395,4,0.000,0.048,2947,4042,2465,0,0,0,0,0,0
$GC,15112,0.45,132.6,963.3,7.1,633,15117,0.15,2.12,0.00,0.000,6,0.196,0.028,2915,2641,2463,0,0,0,0,0,0
$GC,15478,0.53,164.3,942.4,5.6,639,15509,0.00,0.00,29.20,1.443,6,0.000,0.000,2915,2641,2336,0,0,0,0,0,0
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$STATE,26494,begin surface coast
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